Robust GPI Controller for Trajectory Tracking in A 3rps Parallel Robot
Parallel robots have the advantages of handle heavy loads, high rigidity, low inertia and higher accuracy. These robots have been used in applications of motion simulators, machine-tools, fine positioning devices, haptic devices, 3D printers, part handling and spot welding among others. In this paper a configuration of a revolute-prismatic-spherical (RPS) parallel robot with different orientations of the actuators, with respect to other parallel robots reported in the literature, is presented. Robust GPI controller is proposed for trajectory tracking to position the mobile platform in a desired orientation. The simulation results show how the controller is able to compensate non-modeled system disturbances as well as external disturbances.
Index Terms- GPI control, parallel robot, 3 RPS mechanism.